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[wpimath] Deprecate RamseteController (#6494)

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LTVUnicycleController is a drop-in replacement with better tuning knobs.

The RamseteCommand examples were removed instead of retrofitted with
LTVUnicycleController because we're planning on removing the command
controller classes anyway, so it would be wasted effort. The
SimpleDifferentialDriveSimulation example shows direct
LTVUnicycleController usage.
This commit is contained in:
Tyler Veness
2024-04-29 22:01:42 -07:00
committed by GitHub
parent 7601b7250a
commit 5359112b15
45 changed files with 45 additions and 2929 deletions
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5
wpimath/src/main/java/edu/wpi/first/math/controller/RamseteController.java
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@@ -48,7 +48,9 @@ public class RamseteController {
* aggressive like a proportional term.
* @param zeta Tuning parameter (0 rad⁻¹ < zeta < 1 rad⁻¹) for which larger values provide
* more damping in response.
* @deprecated Use LTVUnicycleController instead.
*/
@Deprecated(since = "2024", forRemoval = true)
public RamseteController(double b, double zeta) {
m_b = b;
m_zeta = zeta;
@@ -57,7 +59,10 @@ public class RamseteController {
/**
* Construct a Ramsete unicycle controller. The default arguments for b and zeta of 2.0 rad²/m²
* and 0.7 rad⁻¹ have been well-tested to produce desirable results.
*
* @deprecated Use LTVUnicycleController instead.
*/
@Deprecated(since = "2024", forRemoval = true)
public RamseteController() {
this(2.0, 0.7);
}

6
wpimath/src/main/native/cpp/controller/RamseteController.cpp
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@@ -4,6 +4,8 @@
#include "frc/controller/RamseteController.h"
#include <wpi/deprecated.h>
#include "units/angle.h"
#include "units/math.h"
@@ -26,10 +28,14 @@ RamseteController::RamseteController(units::unit_t<b_unit> b,
units::unit_t<zeta_unit> zeta)
: m_b{b}, m_zeta{zeta} {}
WPI_IGNORE_DEPRECATED
RamseteController::RamseteController()
: RamseteController{units::unit_t<b_unit>{2.0},
units::unit_t<zeta_unit>{0.7}} {}
WPI_UNIGNORE_DEPRECATED
bool RamseteController::AtReference() const {
const auto& eTranslate = m_poseError.Translation();
const auto& eRotate = m_poseError.Rotation();

5
wpimath/src/main/native/include/frc/controller/RamseteController.h
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@@ -56,14 +56,19 @@ class WPILIB_DLLEXPORT RamseteController {
* convergence more aggressive like a proportional term.
* @param zeta Tuning parameter (0 rad⁻¹ < zeta < 1 rad⁻¹) for which larger
* values provide more damping in response.
* @deprecated Use LTVUnicycleController instead.
*/
[[deprecated("Use LTVUnicycleController instead.")]]
RamseteController(units::unit_t<b_unit> b, units::unit_t<zeta_unit> zeta);
/**
* Construct a Ramsete unicycle controller. The default arguments for
* b and zeta of 2.0 rad²/m² and 0.7 rad⁻¹ have been well-tested to produce
* desirable results.
*
* @deprecated Use LTVUnicycleController instead.
*/
[[deprecated("Use LTVUnicycleController instead.")]]
RamseteController();
/**

1
wpimath/src/test/java/edu/wpi/first/math/controller/RamseteControllerTest.java
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@@ -20,6 +20,7 @@ class RamseteControllerTest {
private static final double kTolerance = 1 / 12.0;
private static final double kAngularTolerance = Math.toRadians(2);
@SuppressWarnings("removal")
@Test
void testReachesReference() {
final var controller = new RamseteController(2.0, 0.7);

5
wpimath/src/test/native/cpp/controller/RamseteControllerTest.cpp
View File

@@ -3,6 +3,7 @@
// the WPILib BSD license file in the root directory of this project.
#include <gtest/gtest.h>
#include <wpi/deprecated.h>
#include "frc/MathUtil.h"
#include "frc/controller/RamseteController.h"
@@ -16,6 +17,8 @@ static constexpr units::meter_t kTolerance{1 / 12.0};
static constexpr units::radian_t kAngularTolerance{2.0 * std::numbers::pi /
180.0};
WPI_IGNORE_DEPRECATED
TEST(RamseteControllerTest, ReachesReference) {
frc::RamseteController controller{2.0 * 1_rad * 1_rad / (1_m * 1_m),
0.7 / 1_rad};
@@ -43,3 +46,5 @@ TEST(RamseteControllerTest, ReachesReference) {
robotPose.Rotation().Radians()),
0_rad, kAngularTolerance);
}
WPI_UNIGNORE_DEPRECATED